Hi Matt,
Use Stepconf to generate an example config. It creates a stepper config
without any PID. You can basically cut and paste from that to your hal
files. The drives themselves are doing the PID work in your setup.
Les
On 28/06/2021 22:31, Matthew Herd wrote:
Hi John and Les,
Thank you for the input. I wasn’t sure how to tune the drives without the PID.
P=0 & FF1=0 will yield a commanded velocity calculated purely on the commanded
velocity and maximum acceleration, then? If so, that’s easy enough and may
actually be all I need.
John, I am certain I’ve sized the motors correctly. From all indications they’re
way over-powered. The machine came standard with NEMA42 steppers and these servos
are the same frame size (110mm bolt circle diameter is a bolt on replacement). They
do not seem to lack for torque whatsoever. I’m fine with turning them down as long
as I get good results and high reliability. I’m hoping to put the machine back to
work as soon as I can get the bugs worked out. I did some research on the critical
speeds and I’m pretty sure I’m more than safe at anything under 400 inches per
minute. I don’t see any need to push it even that high. I will probably turn down
the Z axis to 150IPM as there are very few use cases where I need to go even that
high. The quill likely won’t tolerate extreme speeds and the travel is only 5"
so I’m able to cover that distance very quickly regardless of max speed.
Matt
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